Inverse kinematics and inverse dynamics for control of a biped walking machine

Analytical techniques are presented for the motion planning and control of a 12 degree‐of‐freedom biped walking machine. From the Newton‐Euler equations, joint torques are obtained in terms of joint trajectories, and the inverse dynamics are developed for both the single‐support and double‐support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force‐moment and zero‐moment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the forward‐walking trajectory of the biped robot. The implementation of a prototype mechanism and controller is also described.